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#define GO OnFwd(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡ //¡¡Á°¿Ê¤¹¤ë
#define CIR OnRev(OUT_A); //¡¡º¸ÀÞ¤¹¤ë
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#define pika SENSOR_2 //¡¡¥»¥ó¥µ¡¼2¤ò¡Øpika¡Ù¤È̾ÉÕ¤±¤ë
#define time 180 // ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯(±¦²ó¤ê)»þ´Ö¤òÄêµÁ
#define FSTOP Float(OUT_A);¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ³ê¤é¤«¤ËÄä»ß¤¹¤ë
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task main(){
int l_o = 0; ¡¡ // ¸÷¤ÎºÇÂçÃͤòµÏ¿¤¹¤ëÊÑ¿ô
SetSensor(pika,SENSOR_LIGHT); // ¥»¥ó¥µ¡Øpika¡Ù¤ò¸÷¡¦¥»¥ó¥µ¤Ë
ClearTimer(0); // Timer(0)¤ò¥ê¥»¥Ã¥È¤¹¤ë
while(FastTimer(0) <= time){
CIR;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯¤Þ¤Çº¸²ó¤ê
if(pika > l_o){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ ¡¡ // ¡Øpika¡Ù¤ÎÃͤ¬¸÷¤ÎºÇÂçÃͤè¤êÌÀ¤ë¤¤¾ì¹ç
l_o = pika;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤½¤Î»þ¤ÎÃͤò¸÷¤ÎºÇÂçÃͤ˹¹¿·¤¹¤ë
}
}
CIR;
until (pika == l_o);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ºÆÅÙº¸²ó¤ê¤Ë²óž¤¹¤ë(Àè¤Û¤ÉµÏ¿¤·¤¿ÃÍl_o¤ò¸÷¡¦¥»¥ó¥µ¤¬´¶ÃΤ¹¤ë¤Þ¤Ç)
FSTOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ³ê¤é¤«¤ËÄä»ß¤¹¤ë
if(pika < 93 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¤Ê¤é
GO; // ÄÉÀפ¹¤ë¤¿¤á¤ËÁ°¿Ê¤¹¤ë
} else {¡¡¡¡¡¡¡¡¡¡¡¡ // ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30ѤǤ¢¤ë¤Ê¤é
FSTOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ³ê¤é¤«¤ËÄä»ß¤¹¤ë
DOWNS;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ±¦Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
}
FSTOP; //¡¡³ê¤é¤«¤ËÄä»ß¤¹¤ë
while(FastTimer(0) <= time){
CIR;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¥í¥Ü¥Ã¥È¤¬°ì¼þ±ß¤òÉÁ¤¯¤Þ¤Çº¸²ó¤ê
if(pika > l_o){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¡Øpika¡Ù¤ÎÃͤ¬¸÷¤ÎºÇÂçÃͤè¤êÌÀ¤ë¤¤¾ì¹ç
l_o = pika;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤½¤Î»þ¤ÎÃͤò¸÷¤ÎºÇÂçÃͤ˹¹¿·¤¹¤ë
}
}
CIR;
until (pika == l_o);¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ºÆÅÙº¸²ó¤ê¤Ë²óž¤¹¤ë(Àè¤Û¤ÉµÏ¿¤·¤¿ÃÍl_o¤ò¸÷¡¦¥»¥ó¥µ¤¬´¶ÃΤ¹¤ë¤Þ¤Ç)
FSTOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ³ê¤é¤«¤ËÄä»ß¤¹¤ë
if(pika < 93 ){¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30cm°Ê¾å¤Ï¤Ê¤ì¤Æ¤¤¤ë¤Ê¤é
GO; // ÄÉÀפ¹¤ë¤¿¤á¤ËÁ°¿Ê¤¹¤ë
} else {¡¡¡¡¡¡¡¡¡¡¡¡ // ¤â¤·²ûÃæÅÅÅô¤«¤é¤Îµ÷Î¥¤¬30ѤǤ¢¤ë¤Ê¤é
FSTOP;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // ³ê¤é¤«¤ËÄä»ß¤¹¤ë
DOWNF;¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡¡ // º¸Â¦¤ËÁõŶ¤µ¤ì¤¿¥Ö¥í¥Ã¥¯¤òȯ¼Í¤¹¤ë
¡¡¡¡¡¡¡¡¡¡¡¡ }
FSTOP; // ³ê¤é¤«¤ËÄä»ß¤¹¤ë
}
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#define TURN_TIME 400¡¡¡¡¡¡¡¡¡¡¡¡¡¡ //°ì¼þ¤¹¤ë»þ´Ö
task main(){
SetSensor(SENSOR_2, SENSOR_LIGHT);¡¡//¥»¥ó¥µ¡¼£²¤ò¸÷¥»¥ó¥µ
int light_max=0;//¸÷¤ÎºÇÂçÃÍ
int t_max=0;//¸÷¤ÎºÇÂçÃͤλþ´Ö
ClearTimer(0);
OnRev(OUT_A);Wait(TURN_TIME); //°ì¼þ¤¹¤ë
while(FastTimer(0)<TURN_TIME){ //²ó¤Ã¤Æ¤¤¤ë´Ö
if(SENSOR_1>light_max) //ºÇÂçÃͤθ÷¤ò¸«¤Ä¤±¤¿¤é
{
light_max=SENSOR_1; //ºÇÂçÃͤθ÷¤ÈÀßÄê
t_max=FastTimer(0); //¥¿¥¤¥Þ¡¼¤òÆþ¤ì¤ë
}
}
OnRev(OUT_A); //¸÷¤ÎºÇÂçÃͤΤȤ³¤í¤Þ¤Ç²ó¤ë
Wait(t_max); //
Off(OUT_A); //
OnFwd(OUT_B); //º¸¤Î¥Ö¥í¥Ã¥¯¤ò¼Í½Ð
Wait(10); //
Off(OUT_B); //
Wait(50); //
OnRev(OUT_C); //±¦¤Î¥Ö¥í¥Ã¥¯¤ò¼Í½Ð
Wait(10); //
Off(OUT_C); //½ªÎ»
}
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#define turn_time 400 //¥í¥Ü¥Ã¥È¤¬1¼þ¤¹¤ë»þ´Ö
#define THRESHOLD 85
task main()
{
int light_max=0; //ºÇÂçÃÍ
int t_max=0; //ºÇÂçÃͤò¼Â¸½¤¹¤ë»þ¹ï
SetSensor(SENSOR_2,SENSOR_LIGHT); //¥»¥ó¥µ¡¼1¤Ï¸÷¥»¥ó¥µ¡¼
ClearTimer(0); //»þ´Ö¤ò0¤È¤¹¤ë
OnRev(OUT_A); //°ì¼þ¤¹¤ë
while(Timer(0)<turn_time){
if(SENSOR_2>light_max){ //²ó¤Ã¤Æ¤¤¤ë´Ö
light_max=SENSOR_2; //ºÇÂçÃͤò¥»¥ó¥µ¡¼2¤È¤¹¤ë
t_max=Timer(0); //¥¿¥¤¥Þ¡¼¤òÆþ¤ì¤ë
}
}
Off(OUT_A); //°ìö»ß¤á¤Æ
Wait(100);
OnFwd(OUT_A); //ºÇÂçÃͤΤȤ³¤í¤Þ¤Ç²ó¤ë
Wait(t_max)
Off(OUT_A); //»ß¤Þ¤ë
Wait(50);
while (SENSOR_1 <= THRESHOLD){OnFwd(OUT_A);} //40cm¤Î½ê¤Þ¤Ç¿Ê¤à
Off(OUT_A); //»ß¤Þ¤ë
OnFwd(OUT_B); //º¸¤Î¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
Wait(20);
Off(OUT_B);
OnRev(OUT_C); //±¦¤Î¥Ö¥í¥Ã¥¯¤òÅꤲ¤ë
Wait(20);
Off(OUT_C); //´°Î»
}
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#comment
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